CN108673473A - A kind of flexible mechanical arm configuration - Google Patents

Abstract

The present invention relates to a kind of flexible mechanical arm configurations, belong to precision assembly technology field.The flexible mechanical arm configuration includes flexible unit, nipper units and force sensor units；Flexible unit plays the role of buffer protection in operation by two groups of parallel spring piece force transferring structures, and ensures to generate parallel micro-displacement up and down when force snesor stress；The micro parts that nipper units are mainly used for pickup, carry and assemble different shape, size；Feedback information of the force sensor units for providing contact force in robotic arm manipulation.Mechanical arm according to the present invention has flexible unit, can buffer mechanism arm operation when the reaction force that is subject to, while all there is higher rigidity under job state and non-job state, improve the precision of end effector.

Description

A flexible manipulator structure

technical field

The invention belongs to the technical field of precision assembly, and in particular relates to a flexible mechanical arm structure.

Background technique

With the continuous development of high-precision processing technology, tiny devices tend to be miniaturized and diversified. In the precision assembly process, the requirements for the assembly accuracy and quality of tiny parts are getting higher and higher, and the accuracy of the end effector is greatly affected by the structure of the mechanical arm.

Patent application number CN106671134A discloses a mechanical arm structure capable of adjusting contact force and reducing deformation. The structure includes a body, a tool unit and a plunger unit. The body is used to connect the tool unit and the plunger unit with the guide rail or platform of the assembly system; the tool unit realizes the fixation of the end effector, and the plunger unit controls the range of motion of the end effector, and applying downward force to the spring plate will offset part of the The reaction force reduces the deformation, and the contact force can be controlled by adjusting the rotation amount of the screw plug. The invention can reduce the amount of deformation of the mechanical arm when the mechanical arm is working, and reduce the change of the deformation axis angle of the end effector, but the stiffness is relatively low when the mechanical arm is not working.

The patent application number CN201520832943.0 discloses a flexible clamp, including a feed mechanism, a limit mechanism and an actuator. The cylindrical gear drives the ring rack to move left and right, and then realizes the left and right feed movement of the clamp. The limit mechanism restricts the clamp to move along a straight line, and the actuator realizes the clamping and release of the workpiece of the clamp. The actuator adopts an integrated The design uses piezo-ceramic actuators to apply power and the deformation of flexible hinges to transmit motion. Although this invention has higher flexibility, the rigidity of clamp itself is relatively low.

Contents of the invention

Aiming at the problems existing in the prior art, the present invention designs and invents a flexible manipulator structure. The manipulator with the flexible unit has high rigidity both in the working state and the non-working state, which improves the precision of the end effector.

Technical scheme of the present invention:

A flexible manipulator structure, the flexible manipulator structure includes a flexible unit, a clamp unit and a force sensor unit;

The clamp unit includes a mechanical clamp and an adsorption clamp; the mechanical clamp includes a mechanical clamp cylinder, a mechanical clamp air claw and an L-shaped clamp finger; the side of the mechanical clamp cylinder is connected to the clamp The plates are fixedly connected, and the lower end is connected to two mechanical clamp air claws. The L-shaped clamp fingers are connected to the mechanical clamp air claws. The connection and disconnection of the mechanical clamp air cylinder control the opening and closing of the mechanical clamp air claws. Open and close, so as to realize the clamping and release of the parts; the adsorption clamp includes the needle fixing plate, the needle, the needle installation shaft, the air circuit and the swing piece to pick up the adsorption block; one end of the needle fixing plate is fixedly connected with the clamp connecting plate, The other end is hollowed out to form a ring-shaped wall, and the air path and the swing piece are evenly arranged on the ring wall to pick up the adsorption block. The top wire in each air path fixes the needle installation shaft, and a needle is installed inside the needle installation shaft. The needle is bent at 90 degrees for ventilation. Pick up small parts; the pick-up block of the swing piece has a "convex" shape structure, and is equipped with an air path for ventilation and adsorption of large-size parts;

The flexible unit includes an upper spring piece, a lower spring piece and a spring piece fixing block; one end of the upper spring piece or the lower spring piece is fixed on the spring piece fixing block, and the other end is correspondingly fixed on the upper fixing plate of the force sensor or under the force sensor On the fixed plate, two sets of parallel spring force transmission structures are formed. The parallel spring force transmission structure produces up and down parallel micro-displacement when the force sensor is stressed, which acts as a buffer and protection during operation; the spring plate fixed block is fixed on the mechanical arm clamp The clamp is installed on the bottom plate;

One end of the force sensor unit is connected to the clamp unit through the clamp connecting plate, and the other end is connected to the flexible unit through the upper and lower fixing plates of the force sensor; the force sensor unit includes a force sensor, an upper fixing plate of the force sensor, and a lower fixing plate of the force sensor. Plate, force sensor lower beam, mechanical arm upper side baffle, mechanical arm left baffle, mechanical arm right baffle and elastic plunger; the upper end of the force sensor is fixed with the force sensor upper fixing plate, and the lower end is fixed with the force sensor lower fixing plate , the lower side of the force sensor lower fixing plate is connected to the lower beam of the force sensor; the left and right sides of the lower beam of the force sensor are respectively connected with the left side plate of the mechanical arm and the right side plate of the mechanical arm, and the left side plate of the mechanical arm and the right side plate of the mechanical arm The top of the plate is connected with the upper side baffle of the mechanical arm, and the upper side baffle of the mechanical arm, the left side of the mechanical arm and the right side of the mechanical arm are all fixedly connected with the bottom plate of the clamp installation of the mechanical arm; the elastic plunger is inserted into the upper side of the mechanical arm In the plunger hole of the baffle, there is a gap between the elastic plunger and the force sensor; the elastic plunger and the lower beam of the force sensor protect the force sensor, and the elastic plunger is used to limit the upward movement of the force sensor after being subjected to the reaction force. Bending deformation, the lower beam of the force sensor is used to limit the downward bending deformation of the force sensor under its own gravity.

The beneficial effect of the present invention is that when the mechanical arm is in a natural state, the pair of force sensor lower retaining beams limits the downward bending deformation of the mechanical arm under its own gravity. The elastic plunger protects the mechanical arm when it is under load. In addition to improving the rigidity of the machine, the mechanical arm has a flexible unit, which plays a role of buffer protection when the mechanical arm is stressed.

Description of drawings

Figure 1 is a schematic diagram of the structure of the flexible manipulator.

Fig. 2 is a schematic diagram of the structure of the clamp unit.

Fig. 3 is a schematic diagram of the structure of the flexible unit.

In the figure: 1 upper baffle of the mechanical arm; 2 left baffle of the mechanical arm; 3 elastic plunger; 4 mechanical clamp; 5 adsorption clamp; 6 air circuit 1; Needle 3; 10 Needle 4; 11 Needle mounting shaft; 12 Swing plate pick up adsorption block; 13 Needle fixing plate; 14 Clamp connecting plate; 15 Force sensor; 18 mechanical clamp cylinder; 19 mechanical clamp air claw one; 20L type clamp finger one; 21 gas circuit two; 22 gas circuit three; 23 gas circuit four; 24 gas circuit five; Type clamp air claw two; 27 square gasket one; 28 spring plate fixing block; 29 upper spring piece; 30 force sensor upper fixing plate; 31 square nut one; 32 force sensor lower fixing plate; 33 square nut two; 34 force The lower beam of the sensor; 35 lower spring sheets; 36 square spacers two.

Detailed ways

Taking the operating parts as an example, the specific embodiments of the present invention will be described in detail in combination with technical solutions and accompanying drawings.

A flexible manipulator structure, the flexible manipulator structure includes a flexible unit, a clamp unit and a force sensor unit;

The clamp unit includes an adsorption clamp 5 and a mechanical clamp 4; the mechanical clamp 4 includes a mechanical clamp cylinder 18, a mechanical clamp air claw one 19, a mechanical clamp air claw two 26, and an L-shaped clamp Refers to one 20, L-shaped clip refers to two 25. Adsorption clamp includes adsorption clamp 5, air circuit 1 6, needle 1 7, needle 2 8, needle 3 9, needle 4 10, needle installation shaft 11, swing piece picking up adsorption block 12, needle fixing plate 13, air Road two 21, gas road three 22, gas road four 23 and gas road five 24. The mechanical clamp 4 is connected to the clamp connection plate 14 by bolts. The first mechanical air claw 19 and the second mechanical clamp air claw 26 are respectively connected to both sides of the mechanical clamp cylinder 18 . The L-shaped clamp finger one 20 is connected to the mechanical clamp air claw one 19 by bolts, and the L-shaped clamp finger two 25 is connected to the mechanical clamp air claw two 26 by bolts. The opening and closing of mechanical clamp air claw one 19 and mechanical clamp air claw two 26 are controlled by the connection and disconnection of the air circuit of mechanical clamp cylinder 18, so as to realize the clamping and release of parts. The needle head fixing plate 13 is connected and fixed with the clamp connecting plate 14 by bolts. The swing piece picks up the adsorption block 12 into a "convex" shape structure, and is connected to the rear end of the needle fixing plate 13 through a stud. The swing piece picks up the suction block with an air path-6 for ventilation and adsorption parts are suitable for slightly larger parts. . Needle 1 7, needle 2 8, needle 3 9 and needle 4 10 are threadedly connected to the needle mounting shaft 11 which is hollow and has an internal thread thread, and the needle mounting shaft 11 is respectively fixed to the gas on the needle fixing plate 13 by jacking screws. In the second circuit 21, the third air channel 22, the fourth air channel 23, and the fifth air channel 24, the four needles are distributed in a circle, and the needles are bent at 90 degrees, and are used to pick up small round or arc-shaped parts.

The flexible unit includes an upper spring sheet 29, a lower spring sheet 35, a square nut one 31, a square nut two 33, a square gasket one 27, a square gasket two 36, and a spring sheet fixing block 28. The leaf spring fixing block 28 is connected and fixed with the installation base plate 17 of the mechanical arm clamp by bolts. Upper spring leaf 29 front ends are connected and fixed with square gasket one 27 and spring leaf fixing block 28 by bolt. The rear end of the upper spring leaf 29 is connected and fixed with the upper fixing plate 30 of the force sensor by a bolt and a square nut-31. Lower spring leaf 35 front ends are connected and fixed with square washer 2 36 and spring leaf fixing block 28 by bolt. The lower spring leaf 35 rear ends are connected and fixed with the square nut 2 33 and the force sensor lower fixing plate 32 by bolts. The force sensor lower fixing plate 32 is connected and fixed with the force sensor lower beam 34 by bolts. The parts of the whole unit are connected by bolts to form two sets of parallel spring sheet force transmission structures, which play a role of buffer protection during operation. The parallel spring sheet structure can produce up and down parallel micro-displacement when the force sensor is stressed.

The force sensor unit includes a force sensor 15, a base plate 17 for the clamp of the mechanical arm, an upper fixing plate 30 of the force sensor, a lower fixing plate 32 of the force sensor, a lower beam 34 of the force sensor, an upper side plate 1 of the mechanical arm, and a left side plate of the mechanical arm. Plate 2, mechanical arm right side baffle plate 16, elastic plunger 3. The lower beam 34 of the force sensor is connected to the left baffle plate 2 of the mechanical arm and the right baffle plate 16 of the mechanical arm through bolts, and the left baffle plate 2 of the mechanical arm and the right baffle plate 16 of the mechanical arm are connected to the upper side guard plate of the mechanical arm through bolts. 1 connection. The upper side guard plate 1 of the mechanical arm is connected and fixed with the mounting base plate 17 of the clamp of the mechanical arm by bolts. The force sensor 15 is connected with the force sensor upper fixing plate 32 and the force sensor lower fixing plate 35 by bolts. The elastic plunger is inserted into the plunger hole of the upper side baffle of the mechanical arm, and there is a partial gap between the elastic plunger and the force sensor. When the force sensor 15 is bent and deformed upward by the reaction force, the elastic plunger 3 can limit the force sensor 15 to bend and deform upwards, thus playing a protective role; the force sensor lower beam 34 limits the force sensor 15 to bend and deform downward under its own gravity.

The first step: first complete the pick-up of the coil parts. In the non-operating state, due to the limitation of the lower beam 34 of the force sensor, the downward bending deformation of the mechanical arm is reduced under the influence of its own gravity. With the assistance of the industrial camera, the mechanical arm is operated Move to the top of the position where the coil is placed on the feeding platform, and under the feedback of the force sensor, the adsorption clamp 5 is in contact with the coil, and the force sensor 15 in contact will receive an upward reaction force, under the reaction force, the upper spring piece 29 and the lower spring The sheet 35 will be bent upwards and deformed to buffer the mechanical arm, and the downward force exerted by the elastic plunger 3 on the upper fixing plate 30 of the force sensor will offset a part of the reaction force and reduce the deformation. Control the solenoid valves of gas circuit two 21, gas circuit three 22, gas circuit four 23 and gas circuit five 24 to open, and the needles one 6, needle two 7, needles three 8 and needles four 9 of the adsorption clamp are affected by the vacuum adsorption force Complete the picking of the coils, move the operating manipulator to the place where the workpiece on the assembly fixture platform is to be assembled, and close the solenoid valves powered by gas circuit 2 21, gas circuit 3 22, gas circuit 4 23 and gas circuit 5 24, and complete the assembly of the coil Task.

Step 2: Complete the picking of the two pads. In the non-working state, due to the limitation of the lower beam 34 of the force sensor, the downward bending and deformation of the mechanical arm under the influence of its own gravity is reduced. With the assistance of the industrial camera, the mechanical arm is operated The arm moves to the top of the place where the gasket 1 is placed on the loading platform. Under the action of the force sensor, the adsorption clamp 5 contacts the gasket 1. During the contact, the force sensor 15 will receive an upward reaction force, and the spring will be loaded under the reaction force. The sheet 29 and the lower spring sheet 35 will bend and deform upwards, which will act as a buffer for the mechanical arm. The downward force exerted by the elastic plunger 3 on the upper fixing plate 30 of the force sensor will offset a part of the reaction force and reduce deformation, and control the air circuit 3 22 and the air circuit. The solenoid valve four 23 is opened, and the suction clamp needle two 8 and needle three 9 complete the picking up of the gasket 1 under the action of the vacuum adsorption force. Move the operating manipulator arm to the place where the workpiece on the assembly fixture platform is to be assembled, close the solenoid valves powered by air circuit three 22 and air circuit four 23, and complete the assembly task of the gasket. Afterwards, the operating robot arm moves to the loading platform to realize the operation of the gasket. With the assistance of the industrial camera, the operating robot arm moves to the top of the loading platform gasket placement position, and under the action of the force sensor, the adsorption clamp 5 and the pad contact, the force sensor 15 in contact will be subjected to an upward reaction force, under the reaction force, the upper spring plate 29 and the lower spring plate 35 will bend and deform upwards, which will play a buffer role for the mechanical arm, and the elastic plunger 3 will fix the force sensor The downward force exerted by the plate 30 will offset a part of the reaction force to reduce deformation, and the solenoid valves controlling the air passage 21 and the air passage 5 24 will be opened, so that the adsorption clamp needle 1 7 and needle 4 10 are completed under the action of vacuum adsorption force. Pickup of spacer 2. Move the operating manipulator arm to the place where the workpiece on the assembly fixture platform is to be assembled, close the solenoid valves powered by the gas circuit 2 21 and the gas circuit 5 24, and complete the assembly task of the gasket 2.

Step 3: Complete the pick-up of the pendulum piece. In the non-working state, due to the limitation of the lower beam 34 of the force sensor, the downward bending and deformation of the mechanical arm is reduced under the influence of its own gravity. With the assistance of the industrial camera, the operating mechanical arm moves To the top of the placement position of the pendulum piece on the feeding platform, under the action of the force sensor, the pendulum piece picks up the adsorption block 12 and contacts the pendulum piece. During the contact, the force sensor 15 will be subjected to an upward reaction force, and the upper spring piece 29 and The lower spring piece 35 will bend upwards and deform, which acts as a buffer for the mechanical arm. The downward force exerted by the elastic plunger 3 on the upper fixing plate 30 of the force sensor will offset a part of the reaction force and reduce deformation. The suction hole of the sheet picking adsorption block completes the picking up of the swing sheet under the action of vacuum adsorption force. Move the operating manipulator arm to the place where the workpiece on the assembly fixture platform is to be assembled, close the solenoid valve powered by the air circuit, and complete the assembly task of the pendulum.

Step 4: Complete the picking of the press frame. In the non-working state, due to the limitation of the lower beam 34 of the force sensor, the downward bending deformation of the mechanical arm is reduced under the influence of its own gravity. The operating mechanical arm moves to the loading platform. With the assistance of the industrial camera, the mechanical clamp moves to the position where the pressed piece is picked up, and then the L-shaped gripper finger 1 20 and the L-shaped gripper finger 2 25 are closed by controlling the cylinder action to complete the clamping of the pressed piece. Move the operating manipulator arm to the place where the workpiece is to be assembled on the assembly fixture platform, close the cylinder so that the L-shaped clamp finger 1 20 and the L-shaped clamp finger 2 25 are opened to separate from the pressing part to release, and complete the assembly task of the pressing part.

Claims (1)

1. a kind of flexible mechanical arm configuration, which is characterized in that the flexible mechanical arm configuration includes flexible unit, nipper units and power Sensor unit；

The nipper units include mechanical clamp forceps and absorption type clamp；Mechanical clamp forceps include mechanical clamp forceps cylinder, machine Tool formula clamp pneumatic clamper and L-type gripping finger；Mechanical clamp forceps cylinder side surface is fixedly linked with clamp connecting plate, and lower end connects two machineries Formula clamp pneumatic clamper, L-type gripping finger are connected in mechanical clamp forceps pneumatic clamper, connection and the disconnection control machine of mechanical clamp forceps cylinder gas circuit The opening and closing of tool formula clamp pneumatic clamper, to realize gripping and release to part；Absorption type clamp include syringe needle fixed plate, Syringe needle, syringe needle installation axle, gas circuit and pendulum pick up Attraction block；Syringe needle fixed plate one end is fixedly connected with clamp connecting plate, another Hollow out wall in a ring is held, gas circuit and pendulum pickup Attraction block are evenly arranged in annular wall, jackscrew fixed needle is pacified in each gas circuit Axis is filled, syringe needle installation axle is internally provided with syringe needle, and syringe needle is bent at 90 degree, for pickup miniature parts of ventilating；Pendulum pickup absorption Block structure in the shape of a " convex ", and it is furnished with gas circuit, for absorption large-scale part of ventilating；

The flexible unit includes upper spring leaf, lower spring leaf and spring leaf fixed block；The one of upper spring leaf or lower spring leaf End is fixed on spring leaf fixed block, and other end correspondence is fixed on force snesor upper mounted plate or force snesor bottom plate, Two groups of parallel spring piece force transferring structures up and down are formed, parallel spring piece force transferring structure generates parallel up and down in force snesor stress Micro-displacement, in operation from buffer protection function；Spring leaf fixed block is fixed on mechanical arm clamp mounting base；

Described force sensor units one end is connected by clamp connecting plate with nipper units, the other end by force snesor, Bottom plate is connected with flexible unit；Force sensor units include solid under force snesor, force snesor upper mounted plate, force snesor Beam under fixed board, force snesor, side shield on mechanical arm, baffle, mechanical arm right-hand apron and resilient plunger on the left of mechanical arm；Power Force sensor upper mounted plate is fixed in sensor upper end, and force sensor bottom plate, force snesor bottom plate are fixed in lower end Lower section connects force snesor lower gear beam；Under force snesor beam left and right sides respectively with shelves on the right side of plate washer and mechanical arm on the left of mechanical arm Plate connects, and plate washer upper end is connect with side shield on mechanical arm on the right side of plate washer and mechanical arm on the left of mechanical arm, side shield on mechanical arm, Plate washer and mechanical arm right side plate washer are fixedly linked with mechanical arm clamp mounting base on the left of mechanical arm；Resilient plunger is inserted into machinery On arm in the plunger hole of side shield, there are gaps between resilient plunger and force snesor；Resilient plunger and beam under force snesor It shields to force snesor, resilient plunger is used to limit force snesor and is bent upwards deformation after by reaction force, and power passes Beam is bent downwardly deformation for limiting force snesor under its own gravity under sensor.